Fuzzy logic in autonomous navigation

• The development of techniques for autonomous navigation constitutes one of the major trends in the current research on mobile robotics. In this case study, we discuss how fuzzy computation techniques have be used in the SRI International mobile robot Flakey to address some of the difficult issues posed by autonomous navigation: (i) how to design basic behaviors; (ii) how to coordinate behaviors to execute full navigation plans; and (iii) how to use approximate map information. Our techniques have been validated in both in-house experiments and public events. The use of fuzzy logic has resulted in smooth motion control, robust performance in face of errors in the prior knowledge and in the sensor data, and principled integration between different layers of control

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Nyckelord

Datalogi

Computer and Systems Science

Publikations- och innehållstyp

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